Simulator for both unarticulated and articulated rigid bodies without contact. More...

#include <Simulator.h>

Inheritance diagram for Moby::Simulator:

Public Member Functions
	Simulator ()
	Sets up the simulator. More...

virtual double	step (double step_size)
	Steps the Simulator forward in time without contact. More...

ControlledBodyPtr	find_dynamic_body (const std::string &name) const
	Finds the dynamic body in the simulator, if any. More...

void	add_dynamic_body (ControlledBodyPtr body)
	Adds a dynamic body to the simulator. More...

void	remove_dynamic_body (ControlledBodyPtr body)
	Removes a dynamic body from the simulator.

void	update_visualization ()
	Updates all visualization under the simulator.

virtual void	save_to_xml (XMLTreePtr node, std::list< boost::shared_ptr< const Base > > &shared_objects) const
	Implements Base::save_to_xml()

virtual void	load_from_xml (boost::shared_ptr< const XMLTree > node, std::map< std::string, BasePtr > &id_map)
	Implements Base::load_from_xml()

const std::vector < ControlledBodyPtr > &	get_dynamic_bodies () const
	Gets the list of dynamic bodies in the simulator. More...

void	add_transient_vdata (osg::Node *vdata)
	Adds transient visualization data to the simulator.

osg::Node *	get_persistent_vdata () const
	Gets the persistent visualization data.

osg::Node *	get_transient_vdata () const
	Gets the transient (one-step) visualization data.

template<class ForwardIterator >
double	integrate (double dt, ForwardIterator begin, ForwardIterator end)
	Integrates both position and velocity of rigid _bodies. More...

Public Member Functions inherited from Moby::Base
	Base (const Base *b)

Public Attributes
double	current_time
	The current simulation time.

boost::shared_ptr< Dissipation >	dissipator
	The dissipation mechanism for larger time steps.

void(*	post_step_callback_fn )(Simulator *s)
	Callback function after a step is completed.

double	dynamics_time
	User time spent by dynamics on the last step.

std::vector< JointPtr >	implicit_joints
	Set of implicit joints maintained in the simulation (does not include implicit joints belonging to RCArticulatedBody objects)

Public Attributes inherited from Moby::Base
boost::shared_ptr< void >	userdata
	Any relevant userdata.

std::string	id
	The unique ID for this object.

Protected Member Functions
void	apply_impulse (boost::shared_ptr< Ravelin::DynamicBodyd > db, const Ravelin::SharedVectorNd &gj)
	Applies a generalized impulse to a dynamic body. More...

void	solve (const std::vector< boost::shared_ptr< Ravelin::DynamicBodyd > > &island, const std::vector< JointPtr > &island_joints, const Ravelin::VectorNd &v, const Ravelin::VectorNd &f, double dt, Ravelin::VectorNd &a, Ravelin::VectorNd &lambda) const

virtual double	check_pairwise_constraint_violations (double t)

void	find_islands (std::vector< std::vector< boost::shared_ptr< Ravelin::DynamicBodyd > > > &islands)
	Finds islands.

unsigned	num_generalized_coordinates (const std::vector< boost::shared_ptr< Ravelin::DynamicBodyd > > &island) const
	Gets the number of generalized coordinates in an island.

void	calc_fwd_dyn (double dt)
	Calculates forward dynamics for bodies (does not consider unilateral constraints)

void	precalc_fwd_dyn ()
	Prepares to calculate forward dynamics for bodies.

template<class ForwardIterator >
double	integrate (double step_size, ForwardIterator begin, ForwardIterator end)
	Integrates both position and velocity of rigid _bodies. More...

double	integrate (double step_size)
	Integrates all dynamic bodies.

Protected Attributes
osg::Group *	_persistent_vdata

osg::Group *	_transient_vdata

std::vector< ControlledBodyPtr >	_bodies
	The set of bodies in the simulation.

Ravelin::VectorNd	_current_dx
	The derivative at the current time.

Friends
class	ConstraintStabilization

class	ImpactConstraintHandler

class	RigidBody

class	RCArticulatedBody

Additional Inherited Members
Static Public Member Functions inherited from Moby::Base
template<class T >
static boost::shared_ptr< T >	clone (boost::shared_ptr< T > x)
	Static method for cloning a shared pointer.

Detailed Description

Simulator for both unarticulated and articulated rigid bodies without contact.

Class used for performing dynamics simulation of rigid bodies without contact. Rigid body simulation of articulated bodies is supported using both maximal and reduced coordinate approaches.

Constructor & Destructor Documentation

Simulator::Simulator ( )

Sets up the simulator.

The simulator properties are set as follows:

simulator time = 0
no integrator

Member Function Documentation

void Simulator::add_dynamic_body ( ControlledBodyPtr body )

Adds a dynamic body to the simulator.

Precondition: list of bodies is sorted

References Moby::Visualizable::get_visualization_data().

void Simulator::apply_impulse	(	boost::shared_ptr< Ravelin::DynamicBodyd >	db,
		const Ravelin::SharedVectorNd &	gj
	)

protected

Applies a generalized impulse to a dynamic body.

This function takes implicit constraints into account.

ControlledBodyPtr Simulator::find_dynamic_body ( const std::string & name ) const

Finds the dynamic body in the simulator, if any.

Searches unarticulated bodies, articulated bodies, and links of articulated bodies.

const std::vector<ControlledBodyPtr>& Moby::Simulator::get_dynamic_bodies ( ) const

inline

Gets the list of dynamic bodies in the simulator.

Note: if a dynamic body is articulated, only the articulated body is returned, not the links

References _bodies.

template<class ForwardIterator >

double Moby::Simulator::integrate	(	double	dt,
		ForwardIterator	begin,
		ForwardIterator	end
	)

Integrates both position and velocity of rigid _bodies.

Returns: the size of step taken

template<class ForwardIterator >

double Moby::Simulator::integrate	(	double	dt,
		ForwardIterator	begin,
		ForwardIterator	end
	)

protected

Integrates both position and velocity of rigid _bodies.

Returns: the size of step taken

double Simulator::step ( double step_size )

virtual

Steps the Simulator forward in time without contact.

This pseudocode was inspired from [Baraff 1997] and [Mirtich 1996].

Parameters

step_size the step size

Returns: step_size

Reimplemented in Moby::TimeSteppingSimulator.

The documentation for this class was generated from the following files:

/home/drum/Moby/include/Moby/Simulator.h
/home/drum/Moby/include/Moby/Simulator.inl
/home/drum/Moby/src/Simulator.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation